CN112179346B - Indoor navigation system of unmanned trolley and application method thereof - Google Patents
Indoor navigation system of unmanned trolley and application method thereof Download PDFInfo
- Publication number
- CN112179346B CN112179346B CN202010966484.0A CN202010966484A CN112179346B CN 112179346 B CN112179346 B CN 112179346B CN 202010966484 A CN202010966484 A CN 202010966484A CN 112179346 B CN112179346 B CN 112179346B
- Authority
- CN
- China
- Prior art keywords
- singlechip
- ultra
- wideband
- chip
- module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 25
- 238000004891 communication Methods 0.000 claims abstract description 29
- 238000004806 packaging method and process Methods 0.000 claims abstract description 5
- 239000011159 matrix material Substances 0.000 claims description 6
- 238000012545 processing Methods 0.000 claims description 6
- 238000006243 chemical reaction Methods 0.000 claims description 4
- 230000006870 function Effects 0.000 claims description 3
- 238000002372 labelling Methods 0.000 claims description 3
- 238000007620 mathematical function Methods 0.000 claims description 3
- 235000012773 waffles Nutrition 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 13
- 238000013461 design Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 3
- 238000000605 extraction Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003990 capacitor Substances 0.000 description 1
- 239000013078 crystal Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/04—Position of source determined by a plurality of spaced direction-finders
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/12—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves by co-ordinating position lines of different shape, e.g. hyperbolic, circular, elliptical or radial
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to the field of navigation methods, in particular to an indoor navigation system of an unmanned trolley and a use method thereof, wherein the system comprises a turtlebot3 trolley, an STM32 singlechip for reading data information, packaging the data information into frame signals according to a communication protocol and sending the frame signals, and a central processor for controlling the movement of the turtlebot3 trolley based on an ROS system, and further comprises the following components: the DWM1000 ultra-wideband module, the communication module, the power supply and the indicator lamp module comprise the following specific steps: s1: extracting distance information; s2: solving coordinates; s3: displaying coordinates; the ultra-wideband indoor positioning system is built by using a base station and a tag based on the arrival time, the coordinate position of the unmanned trolley is solved by designing a coordinate resolving algorithm, the current coordinate point is displayed in real time through an interface, meanwhile, the coordinate position of the target can be released from a node in a message form according to the requirement of the ROS operation system and can be directly used as a navigation data source for the trolley, and therefore the target can be subscribed by other nodes of the unmanned trolley and can be directly used.
Description
Technical Field
The invention relates to the field of navigation methods, in particular to an indoor navigation system of an unmanned trolley and a use method thereof.
Background
Pages 179-182 of journal 25, volume 11, published in 11 of 2017, disclose an indoor positioning system design based on ultra wideband technology, and the indoor positioning system structure mainly comprises: indoor article information acquisition, indoor article characteristic extraction, indoor article clustering and indoor positioning. The indoor positioning system terminal controls other components, so as to accelerate the design speed of the indoor positioning system, collect the information of the indoor articles, extract the characteristics of the indoor articles, cluster the indoor articles to improve the positioning accuracy, and complete the design of the indoor positioning system based on the results. The disadvantage of this solution is that it is only possible to locate when the number of items in the room is large, and it is not possible to complete the indoor location of a single object.
Pages 44-46 of volume 44 and 12 of electronic technology application published in month 12 of 2018 disclose an indoor moving target positioning system design, which is based on ultra-wideband technology and combines an embedded system to design an indoor moving target positioning system, comprising a positioning base station and a positioning tag, and can realize accurate positioning and track tracking of a moving target. The method has the defects that the extraction of the positioning information is not generalized and cannot be directly used as a navigation data source to the trolley.
Disclosure of Invention
In order to solve the problems, the invention provides an indoor navigation system of an unmanned trolley and a using method thereof.
The indoor navigation system of the unmanned trolley comprises a turtlebot3 trolley, an STM32 singlechip for reading data information, packaging the data information into frame signals according to a communication protocol and sending the frame signals, and a central processor for controlling the turtlebot3 trolley to move based on an ROS system, and further comprises:
the DWM1000 ultra-wideband module is matched with the STM32 singlechip, selects two mode states of receiving and transmitting, and controls the switching of the working state modes by controlling the related register;
the communication module is connected with the serial port interface of the STM32 singlechip and is used for sending the DWM1000 ultra-wideband data frame to the central processor;
the power supply and indicator lamp module is connected with the DWM1000 ultra-wideband module and the STM32 single-chip microcomputer for supplying power, and the TPS73601 chip is used for converting 5V of the power supply into 3.3V level for supplying power to the STM32 single-chip microcomputer and the DWM1000 ultra-wideband module.
The central processor is a vehicle-mounted computer or a ground control station computer.
The DWM1000 ultra-wideband module comprises an ultra-wideband label placed on a target to be positioned, an ultra-wideband base station respectively used for measuring the distance between each ultra-wideband label and the target, and a receiving data base station arranged on a central processor and used for receiving ultra-wideband base station data.
The interface form of the communication module is a USB interface, and the communication mode is a serial port RS232 protocol.
The application method of the indoor navigation system of the unmanned trolley comprises the following specific steps:
s1: extracting distance information:
a: positioning and labeling by using mc data, and putting the received data into a cache to wait for processing;
b: detecting the data, if receiving the mc character string, starting to process the subsequent character string;
c: converting the character string content into data by using a special conversion function int in the Python language and storing the data into a distance variable;
s2: and (3) solving coordinates:
a: reading three anchor node coordinate points A, B and C as circle centers, wherein the three anchor node coordinate points are respectively (X1, Y1), (X2, Y2) and (X3, Y3);
b: three circumferences taking the point A, the point B and the point C as circle centers respectively intersect at a point D;
c: reading distances from a target point to three anchor node coordinates ABC, namely distances from a point A, a point B, a point C and an intersection point D are respectively D1, D2 and D3;
d: let the coordinates of the intersection point D be (X, Y). Equation set (1) can be obtained;
e: the coordinates of the intersection point D can be obtained from the formula (1):
f: writing codes by the formula (2) for a programming language with stronger MATLAB, python mathematical functions; for devices which can only be programmed by using standard C language, the inverse of the matrix and the matrix multiplication are manually written into algebraic form;
s3: coordinate display:
a: importing a Matplotlib packet to draw coordinate points;
b: importing a Matplotlib.Python module to make data drawing;
c: setting a X, Y coordinate range;
d: generating a graph;
e: determining the color and shape type attribute of the coordinate point display;
f: drawing coordinate points obtained by solving in the graph;
g: at intervals of 1ms;
h: if the exit is interrupted, if not, repeating from the step c, and if so, ending;
s4: initializing a positioning output node, and releasing the obtained position information according to the ROS system information for the direct use of the waffle cart.
The coordinate solving in the step S2 adopts a trilateration method.
The intersection point D in the step S2 b is the mobile node, and A, B, C is the reference node.
The beneficial effects of the invention are as follows: the invention can obtain the indoor coordinate position of a single target, display the current coordinate point in real time through an interface, draw a motion track for a period of time, and release the coordinate position of the target in a message form from a node according to the requirements of an ROS operation system, and can be directly used as a navigation data source for the trolley, thereby being subscribed by other nodes of the unmanned trolley and directly used.
Drawings
The invention will be further described with reference to the drawings and examples.
FIG. 1 is a schematic diagram of the overall structure of the present invention;
fig. 2 is a schematic diagram of a DWM1000 ultra-wideband module according to the invention;
FIG. 3 is a schematic diagram of an STM32 singlechip according to the present invention;
fig. 4 is a schematic diagram of the principle and structure of the DWM1000 ultra-wideband module according to the invention;
FIG. 5 is a schematic diagram of a communication module according to the present invention;
FIG. 6 is a schematic diagram of the power and indicator light module principle structure of the present invention;
fig. 7 is a schematic diagram of a flow of extracting distance information according to the present invention;
FIG. 8 is a schematic diagram of the trilateration principle of the present invention;
FIG. 9 is a schematic diagram of a coordinate solving process according to the present invention;
FIG. 10 is a schematic diagram of a coordinate display flow structure according to the present invention;
FIG. 11 is a schematic diagram of an S1 flow structure of extracting distance information according to the present invention;
fig. 12 is a schematic diagram of an S2 flow structure of extracting distance information according to the present invention.
Detailed Description
The present invention will be further described in the following to make the technical means, the creation characteristics, the achievement of the purpose and the effect of the present invention easy to understand.
As shown in fig. 1 to 12, an indoor navigation system of an unmanned trolley includes a turtlebot3 trolley, an STM32 single-chip microcomputer for reading data information, packaging the data information into frame signals according to a communication protocol, and a central processor for controlling movement of the turtlebot3 trolley based on an ROS system, and further includes:
the DWM1000 ultra-wideband module is matched with the STM32 singlechip, selects two mode states of receiving and transmitting, and controls the switching of the working state modes by controlling the related register;
the communication module is connected with the serial port interface of the STM32 singlechip and is used for sending the DWM1000 ultra-wideband data frame to the central processor;
the power supply and indicator lamp module is connected with the DWM1000 ultra-wideband module and the STM32 single-chip microcomputer for supplying power, and the TPS73601 chip is used for converting 5V of the power supply into 3.3V level for supplying power to the STM32 single-chip microcomputer and the DWM1000 ultra-wideband module.
And constructing an ultra-wideband indoor positioning system by using a base station and a tag based on an ultra-wideband positioning mode of the arrival time, and designing a coordinate resolving algorithm to solve the coordinate position of the unmanned trolley.
According to the method and the device, the indoor coordinate position of the single target can be obtained, the current coordinate point can be displayed in real time through the interface, and a motion track for a period of time is drawn.
The coordinate position of the target can be published in a message form from the node according to the requirements of the ROS operating system and directly used as a navigation data source to the trolley, so that the target can be subscribed to and directly used by other nodes of the unmanned trolley.
And the central processing unit receives data sent by the data receiving base station of the DWM1000 ultra-wideband module, calculates to obtain the coordinate position of the label, and finally displays the position on the central processing unit in real time.
At the same time, the central processor also controls the movement of the turtlebot3 trolley based on the ROS system, so that the central processor needs to run the Ubuntu 16.04 operating system instead of the Windows system, and run the ROS program and the positioning display program of the DWM1000 ultra-wideband module under the operating system.
As shown in fig. 3, the circuit of the STM32 single-chip microcomputer includes:
a power supply circuit: pins 1, 6, 19 and 27 of the U2 chip are connected with 3.3V, pins 5, 18, 26 and 36 are connected with the ground, so that the power supply to the singlechip is completed;
a reset circuit: the 4 pins of the U2 chip are pulled up to 3.3V through a 10K resistor, and pulled down to the ground through a 100nF capacitor, so that the resistance-capacitance reset of the singlechip is realized;
clock circuit: the pins 2 and 3 of the U2 chip are connected to the pins 3 and 1 of the 8M crystal oscillator to provide clocks; and using STM32F103 as a controller of the USB positioning module, reading the DWM1000 ultra-wideband module signal in, performing data processing, calculating the distance between the base station and the tag, packaging the base station and the tag into a frame signal according to a communication protocol, and sending the frame signal through the communication module.
The central processor is a vehicle-mounted computer or a ground control station computer.
The measured point, namely the tag point, transmits signals to more than 3 reference node receivers, namely the base station, and the distance between the transmitting point and the receiving point is obtained by measuring the time taken for reaching different receivers.
The receiver is used as the center of a circle, the measured distance is used as the radius to make a circle, and the intersection point of 3 circles is the position of the measured point.
In the implementation process of the method, the distance information between the positioning tag and each base station needs to be measured, so that the positioning tag needs to communicate with each base station back and forth, and therefore the power consumption of the positioning tag is high.
The positioning method has the advantage that high positioning accuracy can be maintained in the inside and outside of the positioning area, namely, the inside and outside of the area surrounded by the base station.
The DWM1000 ultra-wideband module comprises an ultra-wideband label placed on a target to be positioned, an ultra-wideband base station respectively used for measuring the distance between each ultra-wideband label and the target, and a receiving data base station arranged on a central processor and used for receiving ultra-wideband base station data. The specific communication protocol is as follows:
as shown in fig. 4, a circuit diagram of dwm1000 ultra-wideband module:
the UWB1 module takes a dwm1000 chip as a core, wherein the power supply part is connected with 3.3V through pins 5, 6 and 7 of the chip and grounded through pins 8; the SPI bus is adopted to communicate with the singlechip, and pins 17, 18, 19 and 20 of the chip are connected with pins 11, 12, 13 and 14 of the singlechip; the 3 pin of the chip is connected with the 7 pin of the singlechip, so that the singlechip is used for resetting the chip; the 2 pin of the chip is connected with the 15 pin of the singlechip to send a wake-up signal to the chip by using the singlechip; the 1 pin of the chip is connected with the 20 pin of the singlechip, so that the singlechip is used for sending an enabling signal of external equipment to the chip; the 22 pins of the chip are connected with the 32 pins of the singlechip, and are simultaneously connected with the resistor to be pulled down, and an interrupt signal is sent to the singlechip.
The dwm1000 ultra-wideband module can select two mode states of receiving and transmitting when working, and can control the switching of working state modes by controlling related registers, and the STM32 singlechip reads and writes a wireless transceiver chip of the dwm ultra-wideband module through SPI, so that information exchange between communication devices is completed.
As shown in FIG. 5, the ultra-wideband positioning module is communicated with the computer by adopting an RS232 serial port, and because the existing computer is mostly provided with a USB interface, the communication interface adopts a USB connector mode, the STM32 singlechip is provided with the RS232 communication module with the USB interface, and the 23 pin and the 24 pin of the singlechip are connected with the 2 pin and the 3 pin of the Micro USB interface to be used as a receiving and transmitting line of the USB; connecting 16 pins of the singlechip with 3 pins of a Micro USB interface after connecting the resistor, so as to realize the enabling of USB; connecting a 1 pin of a Micro USB interface with a 5V power supply to realize the introduction of the power supply from the USB; the pins 4, 5, 6, 7, 8, 9, 10 and 11 of the Micro USB interface are grounded.
The communication module is used for sending the ultra-wideband data frame to the vehicle-mounted computer or the ground control station computer, the interface is in the form of a USB interface, the communication mode is serial port RS232 protocol, and the communication module is connected with the serial port interface of the STM32STM32 singlechip.
As shown in fig. 6, the power supply and indicator light module adopts TPS73601 chip to perform power conversion, the 1 pin of the chip is connected with the 1 pin of the Micro USB interface, and the 5V power supply of the introduced USB is used as input; the 5 pins of the chip are converted into 3.3V output through a series of resistance-capacitance filters to supply power to other chips.
The indicating lamp body includes: the singlechip operation indicator lamp D1 is connected with the 8 pins of the singlechip and used for indicating whether the system works or not; the power supply indicator lamp D2 is connected with 3.3V and is used for indicating whether the 3.3V power supply of the system is normal or not; dwm1000 communication indicator lights D3 and D4 are connected with pins 13 and 12 of the dwm1000 chip and indicate the receiving and sending communication conditions of the dwm1000 chip.
The power supply of the dwm1000 ultra-wideband module is derived from the 5V voltage of the USB interface, the TPS73601 chip is used for converting the 5V into the 3.3V level to be supplied to the STM32 and dwm1000 ultra-wideband module chips, and a power supply indicator lamp is used for indicating whether the power supply is normal or not, and meanwhile, the port of the serial port is connected with the indicator lamp for indicating whether the transceiving is normal or not.
The interface form of the communication module is a USB interface, and the communication mode is a serial port RS232 protocol.
The application method of the indoor navigation system of the unmanned trolley comprises the following specific steps:
s1: extracting distance information:
a: positioning and labeling by using mc data, and putting the received data into a cache to wait for processing;
b: detecting the data, if receiving the mc character string, starting to process the subsequent character string;
c: converting the character string content into data by using a special conversion function int in the Python language and storing the data into a distance variable;
s2: and (3) solving coordinates:
a: reading three anchor node coordinate points A, B and C as circle centers, wherein the three anchor node coordinate points are respectively (X1, Y1), (X2, Y2) and (X3, Y3);
b: three circumferences taking the point A, the point B and the point C as circle centers respectively intersect at a point D;
c: reading distances from a target point to three anchor node coordinates ABC, namely distances from a point A, a point B, a point C and an intersection point D are respectively D1, D2 and D3;
d: let the coordinates of the intersection point D be (X, Y). Equation set (1) can be obtained;
e: the coordinates of the intersection point D can be obtained from the formula (1):
f: writing codes by the formula (2) for a programming language with stronger MATLAB, python mathematical functions; for devices which can only be programmed by using standard C language, the inverse of the matrix and the matrix multiplication are manually written into algebraic form;
s3: coordinate display:
a: importing a Matplotlib packet to draw coordinate points;
b: importing a Matplotlib.Python module to make data drawing;
c: setting a X, Y coordinate range;
d: generating a graph;
e: determining the color and shape type attribute of the coordinate point display;
f: drawing coordinate points obtained by solving in the graph;
g: at intervals of 1ms;
h: if the exit is interrupted, if not, repeating from the step c, and if so, ending;
s4: initializing a positioning output node, and releasing the obtained position information according to the ROS system information for the direct use of the waffle cart.
The coordinate solving in the step S2 adopts a trilateration method.
The intersection point D in the step S2 b is the mobile node, and A, B, C is the reference node.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (3)
1. The application method of the indoor navigation system of the unmanned trolley, wherein the indoor navigation system of the unmanned trolley comprises a turtlebot3 trolley, an STM32 singlechip for reading data information, packaging the data information into frame signals according to a communication protocol and sending out the frame signals, and a central processor for controlling the turtlebot3 trolley to move based on the ROS system, and the indoor navigation system of the unmanned trolley further comprises the following steps:
the DWM1000 ultra-wideband module is matched with the STM32 singlechip, selects two mode states of receiving and transmitting, and controls the switching of the working state modes by controlling the related register;
the communication module is connected with the serial port interface of the STM32 singlechip and is used for sending the DWM1000 ultra-wideband data frame to the central processor;
the power supply and indicator lamp module is connected with the DWM1000 ultra-wideband module and the STM32 single-chip microcomputer for supplying power, and TPS73601 chips are used for converting 5V of the power supply into 3.3V level for supplying power to the STM32 single-chip microcomputer and the DWM1000 ultra-wideband module; the DWM1000 ultra-wideband module comprises an ultra-wideband label placed on a target to be positioned, an ultra-wideband base station respectively used for measuring the distance between each ultra-wideband label and the target, and a data receiving base station arranged on a central processor and used for receiving ultra-wideband base station data;
the UWB1 module takes a dwm1000 chip as a core, wherein the power supply part is connected with 3.3V through pins 5, 6 and 7 of the chip and grounded through pins 8; the SPI bus is adopted to communicate with the singlechip, and pins 17, 18, 19 and 20 of the chip are connected with pins 11, 12, 13 and 14 of the singlechip; the 3 pin of the chip is connected with the 7 pin of the singlechip, so that the singlechip is used for resetting the chip; the 2 pin of the chip is connected with the 15 pin of the singlechip to send a wake-up signal to the chip by using the singlechip; the 1 pin of the chip is connected with the 20 pin of the singlechip, so that the singlechip is used for sending an enabling signal of external equipment to the chip; the 22 pins of the chip are connected with the 32 pins of the singlechip, and are simultaneously connected with the resistor pull-down to send an interrupt signal to the singlechip; the STM32 singlechip reads and writes the wireless transceiver chip of the dwm ultra-wideband module through the SPI to complete information exchange between communication devices; the ultra-wideband positioning module is communicated with the computer by adopting an RS232 serial port, and the existing computer is mostly provided with a USB interface, so that the communication interface adopts a USB connector mode, an RS232 communication module with the USB interface of the STM32 singlechip is adopted, and pins 23 and 24 of the singlechip are connected with pins 2 and 3 of the Micro USB interface to serve as a receiving and transmitting line of the USB; connecting 16 pins of the singlechip with 3 pins of a Micro USB interface after connecting the resistor, so as to realize the enabling of USB; connecting a 1 pin of a Micro USB interface with a 5V power supply to realize the introduction of the power supply from the USB; grounding pins 4, 5, 6, 7, 8, 9, 10 and 11 of the Micro USB interface;
the central processor is a vehicle-mounted computer or a ground control station computer; the interface form of the communication module is a USB interface, and the communication mode is a serial port RS232 protocol;
the using method comprises the following specific steps:
s1: extracting distance information:
a: positioning and labeling by using mc data, and putting the received data into a cache to wait for processing;
b: detecting the data, if receiving the mc character string, starting to process the subsequent character string;
c: converting the character string content into data by using a special conversion function int in the Python language and storing the data into a distance variable;
s2: and (3) solving coordinates:
a: reading three anchor node coordinate points A, B and C as circle centers, wherein the three anchor node coordinate points are respectively (X1, Y1), (X2, Y2) and (X3, Y3);
b: three circumferences taking the point A, the point B and the point C as circle centers respectively intersect at a point D;
c: reading distances from a target point to three anchor node coordinates ABC, namely distances from a point A, a point B, a point C and an intersection point D are respectively D1, D2 and D3;
d: setting the coordinates of the intersection point D as (X, Y) to obtain an equation set (1);
（1）
e: the coordinates of the intersection point D can be obtained from the formula (1):
（2）
f: writing codes by the formula (2) for a programming language with stronger MATLAB, python mathematical functions; for devices which can only be programmed by using standard C language, the inverse of the matrix and the matrix multiplication are manually written into algebraic form;
s3: coordinate display:
a: importing a Matplotlib packet to draw coordinate points;
b: importing a Matplotlib.Python module to make data drawing;
c: setting a X, Y coordinate range;
d: generating a graph;
e: determining the color and shape type attribute of the coordinate point display;
f: drawing coordinate points obtained by solving in the graph;
g: at intervals of 1ms;
h: if the exit is interrupted, if not, repeating from the step c, and if so, ending;
s4: initializing a positioning output node, and releasing the obtained position information according to the ROS system information for the direct use of the waffle cart.
2. The method for using an indoor navigation system of an unmanned cart according to claim 1, wherein: the coordinate solving in the step S2 adopts a trilateration method.
3. The method for using an indoor navigation system of an unmanned cart according to claim 1, wherein: the intersection point D in the step S2 b is the mobile node, and A, B, C is the reference node.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010966484.0A CN112179346B (en) | 2020-09-15 | 2020-09-15 | Indoor navigation system of unmanned trolley and application method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010966484.0A CN112179346B (en) | 2020-09-15 | 2020-09-15 | Indoor navigation system of unmanned trolley and application method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112179346A CN112179346A (en) | 2021-01-05 |
| CN112179346B true CN112179346B (en) | 2024-02-27 |
Family
ID=73921130
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010966484.0A Active CN112179346B (en) | 2020-09-15 | 2020-09-15 | Indoor navigation system of unmanned trolley and application method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112179346B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105657668A (en) * | 2016-03-16 | 2016-06-08 | 南通大学 | Positioning and navigation control method of indoor mobile robot based on UWB |
| CN105682047A (en) * | 2016-03-16 | 2016-06-15 | 南通大学 | UWB-based indoor mobile robot navigation and positioning system |
| CN107635283A (en) * | 2017-09-22 | 2018-01-26 | 华南理工大学 | A kind of indoor high-density mobile tag alignment system and localization method |
| CN109163724A (en) * | 2018-09-07 | 2019-01-08 | 五邑大学 | Multiple target point autonomous navigation method based on Turtlebot2 robot building map |
| CN110058594A (en) * | 2019-04-28 | 2019-07-26 | 东北大学 | The localization for Mobile Robot navigation system and method for multisensor based on teaching |
| CN110531317A (en) * | 2019-09-05 | 2019-12-03 | 国网江苏省电力有限公司镇江供电分公司 | Substation inspection localization method based on UWB |
| CN110794364A (en) * | 2019-09-09 | 2020-02-14 | 河南工业大学 | UWB indoor positioning method |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105824974B (en) * | 2016-04-19 | 2019-03-26 | 平安科技（深圳）有限公司 | The method and system of Data Analysis Services |
| US10360703B2 (en) * | 2017-01-13 | 2019-07-23 | International Business Machines Corporation | Automatic data extraction from a digital image |
-
2020
- 2020-09-15 CN CN202010966484.0A patent/CN112179346B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105657668A (en) * | 2016-03-16 | 2016-06-08 | 南通大学 | Positioning and navigation control method of indoor mobile robot based on UWB |
| CN105682047A (en) * | 2016-03-16 | 2016-06-15 | 南通大学 | UWB-based indoor mobile robot navigation and positioning system |
| CN107635283A (en) * | 2017-09-22 | 2018-01-26 | 华南理工大学 | A kind of indoor high-density mobile tag alignment system and localization method |
| CN109163724A (en) * | 2018-09-07 | 2019-01-08 | 五邑大学 | Multiple target point autonomous navigation method based on Turtlebot2 robot building map |
| CN110058594A (en) * | 2019-04-28 | 2019-07-26 | 东北大学 | The localization for Mobile Robot navigation system and method for multisensor based on teaching |
| CN110531317A (en) * | 2019-09-05 | 2019-12-03 | 国网江苏省电力有限公司镇江供电分公司 | Substation inspection localization method based on UWB |
| CN110794364A (en) * | 2019-09-09 | 2020-02-14 | 河南工业大学 | UWB indoor positioning method |
Non-Patent Citations (2)
| Title |
|---|
| LV Yong et al.."The Design of Indoor Mobile Robot Navigation System Based on UWB Location".《2018 Eighth International Conference on Instrumentation & Measurement, Computer, Communication and Control (IMCCC)》.2020,第334-338页. * |
| 卢靖宇等."基于超宽带的移动机器人室内定位***设计".《电子技术应用》.2017,第43卷(第5期),第25-28页. * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112179346A (en) | 2021-01-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105590575A (en) | Display Driver Chip And Apparatus Therewith | |
| CN205563490U (en) | Prevent losing intelligence pen | |
| CN103218906A (en) | Falling data acquiring and analyzing platform | |
| CN112179346B (en) | Indoor navigation system of unmanned trolley and application method thereof | |
| CN103776442A (en) | Regional wireless positioning and micro-serial inertial navigation integrated system and positioning method thereof | |
| CN206740985U (en) | A kind of airborne GNSS measurement apparatus of high accuracy | |
| CN206440282U (en) | A kind of indoor positioning device and its alignment system | |
| CN202904009U (en) | System for realizing relative positioning of object by using radio frequency technology and ultrasound technology | |
| CN110007160A (en) | A kind of Electrostatic Potential Measure System, method and equipment | |
| CN203894411U (en) | Special-purpose Beidou navigation remote service terminal for engineering vehicle | |
| CN205582260U (en) | Self -control system of checking meter of geothermol power station usefulness | |
| Jiang et al. | Design of wireless communication system based on nRF24L01 | |
| CN207020316U (en) | One kind is based on GPS Big Dippeves bimodulus Differential positioning on-vehicle positioning terminal and system | |
| CN204515360U (en) | A kind of wrist-watch utilizing wrist-watch motion recording to be accessed race system | |
| CN209103115U (en) | Car-mounted terminal time updating system | |
| CN101923631B (en) | CPLD-based low-frequency ID card real-time simulator | |
| CN204667082U (en) | A kind of mainboard of bus Internet of Things peace control terminal device | |
| CN216900944U (en) | Terminal positioning system and hand-held locator based on GPS, big dipper and GSM | |
| CN201819704U (en) | Testing instrument for fridge energy efficiency experiment based on micropower wireless communication technology | |
| CN202435611U (en) | Comprehensive vehicle positioning system | |
| CN102393915B (en) | Radio frequency read-write equipment, and vehicle identification and assistant speed measuring system using same | |
| CN202815101U (en) | Detection system | |
| CN206945729U (en) | A kind of flow velocity instrument apparatus | |
| CN206096458U (en) | Take RFID's inferior meter level mobile location terminal | |
| CN206301357U (en) | Low-power consumption can positioning electronic tag |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |